Fieldbus

CanOpen

0x7000 Upper Computer Queries CAN-Supported Functions of This Hardware

Command Word: 0x7000

Request Parameters:

Parameter	Type	Description
canPort	UInt	CAN port number
function	Int	CAN-supported functions of this hardware, range [0,3] 0-Standard frame, 1-Extended frame, 2-Remote frame, 3-Filter ID

Request Example:

{
  "canPort": 1,
  "function": 0
}

---

0x7001 Controller Replies with CAN-Supported Function Query Result

Command Word: 0x7001

Response Parameters:

Parameter	Type	Description
canPort	UInt	CAN port number
support	Bool	Whether the hardware CAN supports this function

Response Example:

{
  "canPort": 1,
  "support": true
}

---

0x7002 Upper Computer Sets CAN Parameters

Command Word: 0x7002

Request Parameters:

Parameter	Type	Description
canBaud	UInt	CAN communication baud rate
canPort	UInt	CAN communication port
enableRecvFiltert	Bool	Whether to enable filter ID
frameFormat	Int	Frame format, range [0,1] 0-Standard frame, 1-Extended frame
recvFilterId	UInt	Set filter ID

Request Example:

{
  "canBaud": 115200,
  "canPort": 1,
  "enableRecvFiltert": true,
  "frameFormat": 0,
  "recvFilterId": 1
}

---

0x7003 Upper Computer Requests to Receive One CAN Frame

Command Word: 0x7003

Request Parameters:

Parameter	Type	Description
canPort	UInt	CAN communication port

Request Example:

{
  "canPort": 1
}

---

0x7004 Controller Replies with Received CAN Frame Data

Command Word: 0x7004

Response Parameters:

Parameter	Type	Description
canPort	UInt	CAN communication port
data	UChar[]	Received data, length is the value of the Length field
Length	UInt	Received data length
recvCanID	UInt	Received frame ID

Response Example:

{
  "canPort": 1,
  "data": [10],
  "Length": 1,
  "recvCanID": 1
}

---

0x7005 Upper Computer Requests to Send One Frame of Data

Command Word: 0x7005

Request Parameters:

Parameter	Type	Description
canPort	UInt	CAN communication port
data	UChar[]	Data to send
sendCanID	UInt	Frame ID to send
sendLen	UInt	Data length to send, range [1,8]
useRemoteFrame	Bool	Whether to use remote frame

Request Example:

{
  "canPort": 1,
  "data": [10],
  "sendCanID": 1,
  "sendLen": 1,
  "useRemoteFrame": true
}

---

ENI

0x7010 Upper Computer Queries ENI File List

Command Word: 0x7010

Request Parameters:

Parameter	Type	Description
num	Int	Number of ENI files to retrieve, range [1,10] 1-Get currently used ENI file, 10-Get all ENI files

Request Example:

{
  "num": 10
}

---

0x7011 Controller Replies with ENI File List

Command Word: 0x7011

Response Parameters:

Parameter	Type	Description
ENIfilelist	String[]	Controller ENI file list
ENIfilenum	Int	Number of ENI files
absolutepath	String	Folder path of ENI files on the controller

Response Example:

{
  "ENIfilelist": [
    "INEXBOT-IO-R4-1.xml",
    "DST_X503-1.json",
    "DST_X503-1.xml",
    "KunWeiTech_FT_Sensors-1.xml",
    "P140000107-1.0.1.1-ECXML-1.xml"
  ],
  "ENIfilenum": 10,
  "absolutepath": "eni/"
}

---

0x7012 Upper Computer Queries ENI Parameters

Command Word: 0x7012

Request Parameters: (None)

{}

---

0x7013 Controller Replies with ENI Parameters

Command Word: 0x7013

Response Parameters:

Parameter	Type	Description
ENIName	String	ENI file name
isHaveENI	Int	ENI file recognition result, range [-1,1] -1-No ENI, 0-No corresponding ENI recognized, 1-ENI file recognized

Response Example:

{
  "ENIName": "eni-RC-6-mecat-1-1000.xml",
  "isHaveENI": 1
}

---

Slave List

0x7020 Upper Computer Queries Slave List

Command Word: 0x7020

Request Parameters: (None)

{}

---

0x7021 Controller Replies with Slave List

Command Word: 0x7021

Response Parameters:

Parameter	Type	Description
IONum	Int[]	IO slave list
servoNum	Int[]	Servo slave list
slaveType	String[]	Slave Chinese name list
slaveTypeEnglish	String[]	Slave English name list

Response Example:

{
  "IONum": [0, 0, 0, 0, 0, 0],
  "servoNum": [1, 2, 3, 4, 5, 6],
  "slaveType": ["hcfa_x3e", "hcfa_x3e", "hcfa_x3e", "hcfa_x3e", "hcfa_x3e", "hcfa_x3e"],
  "slaveTypeEnglish": ["hcfa_x3e", "hcfa_x3e", "hcfa_x3e", "hcfa_x3e", "hcfa_x3e", "hcfa_x3e"]
}

---

0x7022 Upper Computer Requests Controller to Switch System

Command Word: 0x7022

Request Parameters: (None)

{}